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Merge master->ros2 (fixed #674)

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matlabbe
2021-11-03 12:05:28 -04:00
parent f54404812f 70bc399907
commit ab1288cccc
8 changed files with 67 additions and 32 deletions
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src/CoreWrapper.cpp
+18 -13
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@@ -377,7 +377,12 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
}
if(!paramValue.empty())
{
if(iter->second.first)
if(!iter->second.second.empty() && parameters_.find(iter->second.second)!=parameters_.end())
{
RCLCPP_WARN(this->get_logger(), "Rtabmap: Parameter name changed: \"%s\" -> \"%s\". The new parameter is already used with value \"%s\", ignoring the old one with value \"%s\".",
iter->first.c_str(), iter->second.second.c_str(), parameters_.find(iter->second.second)->second.c_str(), paramValue.c_str());
}
else if(iter->second.first)
{
// can be migrated
uInsert(parameters_, ParametersPair(iter->second.second, paramValue));
@@ -403,26 +408,26 @@ CoreWrapper::CoreWrapper(const rclcpp::NodeOptions & options) :
// Backward compatibility (MapsManager)
mapsManager_.backwardCompatibilityParameters(*this, parameters_);
bool gridFromDepth = Parameters::defaultGridFromDepth();
if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || genScan_) && parameters_.find(Parameters::kGridFromDepth()) == parameters_.end())
int gridSensor = Parameters::defaultGridSensor();
if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || genScan_) && parameters_.find(Parameters::kGridSensor()) == parameters_.end())
{
RCLCPP_WARN(this->get_logger(), "Setting \"%s\" parameter to false (default true) as \"subscribe_scan\" or \"subscribe_scan_cloud\" or \"gen_scan\" is "
RCLCPP_WARN(this->get_logger(), "Setting \"%s\" parameter to 0 (default 1) as \"subscribe_scan\" or \"subscribe_scan_cloud\" or \"gen_scan\" is "
"true. The occupancy grid map will be constructed from "
"laser scans. To get occupancy grid map from cloud projection, set \"%s\" "
"to true. To suppress this warning, "
"add <param name=\"%s\" type=\"string\" value=\"false\"/>",
Parameters::kGridFromDepth().c_str(),
Parameters::kGridFromDepth().c_str(),
Parameters::kGridFromDepth().c_str());
parameters_.insert(ParametersPair(Parameters::kGridFromDepth(), "false"));
"add <param name=\"%s\" type=\"string\" value=\"0\"/>",
Parameters::kGridSensor().c_str(),
Parameters::kGridSensor().c_str(),
Parameters::kGridSensor().c_str());
parameters_.insert(ParametersPair(Parameters::kGridSensor(), "0"));
}
Parameters::parse(parameters_, Parameters::kGridFromDepth(), gridFromDepth);
if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || genScan_) && parameters_.find(Parameters::kGridRangeMax()) == parameters_.end() && !gridFromDepth)
Parameters::parse(parameters_, Parameters::kGridSensor(), gridSensor);
if((this->isSubscribedToScan2d() || this->isSubscribedToScan3d() || genScan_) && parameters_.find(Parameters::kGridRangeMax()) == parameters_.end() && gridSensor==0)
{
RCLCPP_INFO(this->get_logger(), "Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan\" or \"subscribe_scan_cloud\" or \"gen_scan\" is true.",
RCLCPP_INFO(this->get_logger(), "Setting \"%s\" parameter to 0 (default %f) as \"subscribe_scan\" or \"subscribe_scan_cloud\" or \"gen_scan\" is true and %s is 0.",
Parameters::kGridRangeMax().c_str(),
Parameters::defaultGridRangeMax(),
Parameters::kGridFromDepth().c_str());
Parameters::kGridSensor().c_str());
parameters_.insert(ParametersPair(Parameters::kGridRangeMax(), "0"));
}
if(this->isSubscribedToScan3d() && parameters_.find(Parameters::kIcpPointToPlaneRadius()) == parameters_.end())